import os
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    autopatral_robot_dir = get_package_share_directory('autopatrol_robot')
    patrol_config_path = os.path.join(autopatral_robot_dir, 'config', 'patrol_config.yaml')

    action_node_patrol_node = launch_ros.actions.Node(
        package='autopatrol_robot',
        executable='patrol_node',
        parameters=[patrol_config_path],
    )
    
    action_node_speaker = launch_ros.actions.Node(
        package='autopatrol_robot',
        executable='speaker',
    )
    
    return launch.LaunchDescription([
        action_node_speaker,
        action_node_patrol_node,
    ])